CN116775380A - Robot fault data recovery method, device, computer equipment and medium - Google Patents
Robot fault data recovery method, device, computer equipment and medium Download PDFInfo
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Classifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F11/00—Error detection; Error correction; Monitoring
- G06F11/07—Responding to the occurrence of a fault, e.g. fault tolerance
- G06F11/14—Error detection or correction of the data by redundancy in operation
- G06F11/1402—Saving, restoring, recovering or retrying
- G06F11/1471—Saving, restoring, recovering or retrying involving logging of persistent data for recovery
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F21/00—Security arrangements for protecting computers, components thereof, programs or data against unauthorised activity
- G06F21/60—Protecting data
- G06F21/602—Providing cryptographic facilities or services
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2221/00—Indexing scheme relating to security arrangements for protecting computers, components thereof, programs or data against unauthorised activity
- G06F2221/21—Indexing scheme relating to G06F21/00 and subgroups addressing additional information or applications relating to security arrangements for protecting computers, components thereof, programs or data against unauthorised activity
- G06F2221/2107—File encryption
Abstract
The application relates to a robot fault data recovery method, a robot fault data recovery device, computer equipment and a medium. The method comprises the following steps: receiving a fault data recovery request sent by a non-fault node, and selecting a target non-fault node from a plurality of non-fault nodes; sending a first instruction to a target non-fault node, wherein the first instruction carries a master key and an encryption space identifier of the fault node; obtaining decryption success information fed back by the target non-failure node in response to the first instruction, and sending a second instruction to the target non-failure node; obtaining re-encryption success information fed back by the target non-failure node in response to the second instruction, and sending a third instruction to the target non-failure node; and sending the file data operation authority of the fault node to the target non-fault node according to the new encryption space key and the encryption space identifier of the fault node. By adopting the scheme, the fault repairing efficiency can be improved.
Description
Technical Field
The present application relates to the field of robot technologies, and in particular, to a method, an apparatus, a computer device, a storage medium, and a computer program product for recovering fault data of a robot.
Background
Robots are required to operate in harsh environments that increase the likelihood of damage to the robot. Therefore, the robot should have a self-healing capability to extend its performance and service life.
In robotics, most existing self-repair methods rely on replacement of faulty components and redundancy. The self-repairing method for replacing the fault part is based on a control strategy of a robot, and the self-repairing function is realized through the method for detecting the fault and removing the defective part and the decision of replacing the spare part. The redundancy-based self-repair approach is to recover the failed unit by redundancy and re-integrate it into the system.
Although the self-repairing method for replacing the fault part can reach a very high self-repairing level, the robot is generally complex in design, the difficulty of realizing the self-repairing algorithm through a control strategy is very high, and the technical method is long in time consumption. The self-repairing method based on redundancy has higher fault tolerance capability, but needs to copy hardware nodes, and moves the affected functions to a standby unit, so that extra hardware cost is caused. Therefore, these methods have low failure recovery efficiency.
Disclosure of Invention
Based on this, it is necessary to provide an efficient robot fault data recovery method, apparatus, computer device, computer readable storage medium and computer program product in view of the above technical problems.
In a first aspect, the present application provides a method for recovering fault data of a robot. The method comprises the following steps:
receiving a fault data recovery request sent by a non-fault node, and selecting a target non-fault node from a plurality of non-fault nodes;
a first instruction is sent to a target non-fault node, wherein the first instruction carries a main key and an encryption space identifier of the fault node, and the first instruction is used for controlling the target non-fault node to acquire a file data encryption key of the fault node, wherein the file data encryption key is obtained by decrypting the main key of the fault node;
obtaining decryption success information fed back by the target non-failure node in response to the first instruction, and sending a second instruction to the target non-failure node, wherein the second instruction is used for controlling the target non-failure node to obtain a new encryption space key, and the new encryption space key is obtained by re-encrypting a file data encryption key of the failure node according to a master key of the target non-failure node;
Obtaining re-encryption success information fed back by the target non-failure node in response to the second instruction, and sending a third instruction to the target non-failure node, wherein the third instruction is used for controlling the target non-failure node to store the new encryption space key and the encryption space identifier in a cloud space;
and acquiring the new encryption space key and the encryption space identifier of the fault node from a cloud space, and sending the file data operation authority of the fault node to the target non-fault node according to the new encryption space key and the encryption space identifier of the fault node, wherein the fault data of the fault node is recovered by the target non-fault node.
In one embodiment, the target non-failed node stores the new encryption space key and the encryption space identification in key-value pairs.
In one embodiment, the robot fault data recovery method further includes:
and sending a fourth instruction to the target non-fault node, wherein the fourth instruction is used for controlling the target non-fault node to read the file data of the fault node, and the file data of the fault node is obtained by decrypting the encrypted file of the fault node according to the file data encryption key of the fault node.
In one embodiment, the decrypting the encrypted file of the failed node according to the file data encryption key of the failed node includes:
if the encryption space identifier of the fault node exists in the cloud space, acquiring the new encryption space key according to the encryption space identifier of the fault node;
decrypting the new encryption space key through the master key of the target non-faulty node to obtain a file data encryption key of the faulty node;
decrypting the encrypted file of the fault node through the file data encryption key of the fault node.
In one embodiment, the robot fault data recovery method further includes:
and sending a fifth instruction to the target non-failure node, wherein the fifth instruction is used for controlling the target non-failure node to encrypt the recovered failure data.
In one embodiment, the master key of the failed node is generated based on a host serial number of the failed node and a control center node key; the master key of the target non-failure node is generated based on the host serial number of the target non-failure node and the control center node key.
In a second aspect, the application further provides a robot fault data recovery device. The device comprises:
The receiving request module is used for receiving a fault data recovery request sent by a non-fault node and selecting a target non-fault node from a plurality of non-fault nodes;
the system comprises a first instruction sending module, a first instruction sending module and a second instruction sending module, wherein the first instruction is used for sending a first instruction to a target non-fault node, the first instruction carries a master key and an encryption space identifier of the fault node, and the first instruction is used for controlling the target non-fault node to acquire a file data encryption key of the fault node, wherein the file data encryption key is obtained by decrypting the master key of the fault node;
the second instruction sending module is used for obtaining decryption success information fed back by the target non-fault node in response to the first instruction and sending a second instruction to the target non-fault node, and the second instruction is used for controlling the target non-fault node to obtain a new encryption space key, wherein the new encryption space key is obtained by re-encrypting a file data encryption key of the fault node according to a master key of the target non-fault node;
a third instruction sending module, configured to obtain re-encryption success information fed back by the target non-failure node in response to the second instruction, and send a third instruction to the target non-failure node, where the third instruction is configured to control the target non-failure node to store the new encryption space key and the encryption space identifier in cloud space;
And the permission sending module is used for acquiring the new encryption space key and the encryption space identifier of the fault node from the cloud space, sending the file data operation permission of the fault node to the target non-fault node according to the new encryption space key and the encryption space identifier of the fault node, and recovering the fault data of the fault node by the target fault node.
In a third aspect, the present application also provides a computer device. The computer device comprises a memory storing a computer program and a processor which when executing the computer program performs the steps of:
receiving a fault data recovery request sent by a non-fault node, and selecting a target non-fault node from a plurality of non-fault nodes;
a first instruction is sent to a target non-fault node, wherein the first instruction carries a main key and an encryption space identifier of the fault node, and the first instruction is used for controlling the target non-fault node to acquire a file data encryption key of the fault node, wherein the file data encryption key is obtained by decrypting the main key of the fault node;
Obtaining decryption success information fed back by the target non-failure node in response to the first instruction, and sending a second instruction to the target non-failure node, wherein the second instruction is used for controlling the target non-failure node to obtain a new encryption space key, and the new encryption space key is obtained by re-encrypting a file data encryption key of the failure node according to a master key of the target non-failure node;
obtaining re-encryption success information fed back by the target non-failure node in response to the second instruction, and sending a third instruction to the target non-failure node, wherein the third instruction is used for controlling the target non-failure node to store the new encryption space key and the encryption space identifier in a cloud space;
and acquiring the new encryption space key and the encryption space identifier of the fault node from a cloud space, and sending the file data operation authority of the fault node to the target non-fault node according to the new encryption space key and the encryption space identifier of the fault node, wherein the fault data of the fault node is recovered by the target non-fault node.
In a fourth aspect, the present application also provides a computer-readable storage medium. The computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of:
Receiving a fault data recovery request sent by a non-fault node, and selecting a target non-fault node from a plurality of non-fault nodes;
a first instruction is sent to a target non-fault node, wherein the first instruction carries a main key and an encryption space identifier of the fault node, and the first instruction is used for controlling the target non-fault node to acquire a file data encryption key of the fault node, wherein the file data encryption key is obtained by decrypting the main key of the fault node;
obtaining decryption success information fed back by the target non-failure node in response to the first instruction, and sending a second instruction to the target non-failure node, wherein the second instruction is used for controlling the target non-failure node to obtain a new encryption space key, and the new encryption space key is obtained by re-encrypting a file data encryption key of the failure node according to a master key of the target non-failure node;
obtaining re-encryption success information fed back by the target non-failure node in response to the second instruction, and sending a third instruction to the target non-failure node, wherein the third instruction is used for controlling the target non-failure node to store the new encryption space key and the encryption space identifier in a cloud space;
And acquiring the new encryption space key and the encryption space identifier of the fault node from a cloud space, and sending the file data operation authority of the fault node to the target non-fault node according to the new encryption space key and the encryption space identifier of the fault node, wherein the fault data of the fault node is recovered by the target non-fault node.
In a fifth aspect, the present application also provides a computer program product. The computer program product comprises a computer program which, when executed by a processor, implements the steps of:
receiving a fault data recovery request sent by a non-fault node, and selecting a target non-fault node from a plurality of non-fault nodes;
a first instruction is sent to a target non-fault node, wherein the first instruction carries a main key and an encryption space identifier of the fault node, and the first instruction is used for controlling the target non-fault node to acquire a file data encryption key of the fault node, wherein the file data encryption key is obtained by decrypting the main key of the fault node;
obtaining decryption success information fed back by the target non-failure node in response to the first instruction, and sending a second instruction to the target non-failure node, wherein the second instruction is used for controlling the target non-failure node to obtain a new encryption space key, and the new encryption space key is obtained by re-encrypting a file data encryption key of the failure node according to a master key of the target non-failure node;
Obtaining re-encryption success information fed back by the target non-failure node in response to the second instruction, and sending a third instruction to the target non-failure node, wherein the third instruction is used for controlling the target non-failure node to store the new encryption space key and the encryption space identifier in a cloud space;
and acquiring the new encryption space key and the encryption space identifier of the fault node from a cloud space, and sending the file data operation authority of the fault node to the target non-fault node according to the new encryption space key and the encryption space identifier of the fault node, wherein the fault data of the fault node is recovered by the target non-fault node.
The robot fault data recovery method, the robot fault data recovery device, the computer equipment, the storage medium and the computer program product are used for selecting a target non-fault node from a plurality of non-fault nodes by receiving a fault data recovery request sent by the non-fault node; the method comprises the steps of sending a first instruction to a target non-fault node, wherein the first instruction carries a master key and an encryption space identifier of the fault node, and the first instruction is used for controlling the target non-fault node to acquire a file data encryption key of the fault node; obtaining decryption success information fed back by the target non-failure node in response to the first instruction, and sending a second instruction to the target non-failure node, wherein the second instruction is used for controlling the target non-failure node to obtain a new encryption space key; obtaining re-encryption success information fed back by the target non-failure node in response to the second instruction, and sending a third instruction to the target non-failure node, wherein the third instruction is used for controlling the target non-failure node to store a new encryption space key and an encryption space identifier in the cloud space; acquiring a new encryption space key and an encryption space identifier of a fault node from the cloud space, and sending file data operation permission of the fault node to a target non-fault node according to the new encryption space key and the encryption space identifier of the fault node, wherein the target non-fault node recovers fault data of the fault node. In the scheme, the file data encryption key of the fault node is obtained through the first instruction, then the file data encryption key is re-encrypted through the second instruction to obtain a new encryption space key, and then the new encryption space key and the encryption space identifier are stored in the cloud space through the third instruction, so that the target non-fault node obtains the file data operation authority of the fault node, the fault data of the fault node is recovered, the fault data recovery task of the fault node can be given to the non-fault node, a spare unit is not required to be additionally added to replace a fault unit restart node program, the fault recovery time is shortened, and the fault recovery efficiency is improved.
Drawings
FIG. 1 is an application environment diagram of a robot failure data recovery method in one embodiment;
FIG. 2 is a flow diagram of a method for recovering robot failure data in one embodiment;
FIG. 3 is a schematic diagram of a key architecture;
FIG. 4 is a schematic diagram of a specific flow of a method for recovering robot failure data;
FIG. 5 is a block diagram of a robot fault data restoration device in one embodiment;
fig. 6 is an internal structural diagram of a computer device in one embodiment.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
The robot fault data recovery method provided by the embodiment of the application can be applied to an application environment shown in fig. 1. The control center node 102 receives a failure data recovery request sent by the non-failure node, selects a target non-failure node 104 from a plurality of non-failure nodes, the control center node 102 sends a first instruction to the target non-failure node 104, the first instruction carries a master key and an encryption space identifier of the failure node 106 and is used for controlling the target non-failure node 104 to acquire a file data encryption key of the failure node 106, the control center node 102 acquires decryption success information fed back by the target non-failure node 104 in response to the first instruction and sends a second instruction to the target non-failure node 104, the control center node 102 acquires new encryption space key in response to the second instruction and sends a third instruction to the target non-failure node 104, the control center node 102 acquires the new encryption space key and the encryption space identifier of the failure node 106 from the cloud space and sends the new encryption space identifier of the failure node 106 to the target non-failure node 104 in response to the re-encryption success information fed back by the target non-failure node 104, and the control center node 102 acquires the new encryption space key and the encryption space identifier of the target non-failure node 106 in response to the second instruction and sends the target non-failure node 104 to the target non-failure node 106.
In one embodiment, as shown in fig. 2, a method for recovering robot fault data is provided, and the method is applied to the control center node 102 in fig. 1 for illustration, and includes the following steps:
s100, receiving a fault data recovery request sent by a non-fault node, and selecting a target non-fault node from a plurality of non-fault nodes.
Wherein the failure data recovery request is sent by the non-failure node to the control center node to request recovery of the failure data of the failure node; the target non-failure node is a node selected by the control center node from all non-failure nodes that send failure data recovery requests to the control center node.
Specifically, different nodes in the network are communicated through heartbeat packets, after a certain node A is attacked, other nodes connected with the node A in the network detect that the node A fails to remove the heartbeat packets, the node A is a fault node at the moment, the nodes which detect that the node A fails to remove the heartbeat packets are non-fault nodes, wherein the non-fault nodes comprise a plurality of nodes, then, a fault data recovery request is sent to a control center node, the control center node receives the fault data recovery request sent by the non-fault nodes, and one non-fault node is selected from the plurality of non-fault nodes to serve as a target non-fault node.
S200, sending a first instruction to the target non-failure node.
The first instruction is sent to the target non-failure node by the control center node and is used for controlling the target non-failure node to acquire the file data encryption key of the failure node.
Specifically, after selecting a target non-failure node, the control center node sends a first instruction to the target non-failure node, wherein the first instruction carries a master key and an encryption space identifier of the failure node, the target non-failure node receives the first instruction, acquires the master key of the failure node, takes out an encryption space key corresponding to the failure node in the cloud space, decrypts the encryption space key of the failure node by using the master key of the failure node, and obtains a file data encryption key of the failure node.
S300, obtaining decryption success information fed back by the target non-failure node in response to the first instruction, and sending a second instruction to the target non-failure node.
The second instruction is sent to the target non-failure node by the control center node according to the decryption success information fed back by the target non-failure node, and is used for controlling the target non-failure node to acquire a new encryption space key.
Specifically, if the target non-failure node is successfully decrypted, the decryption success information is sent to the control center node, the control center node receives the decryption success information fed back by the target non-failure node in response to the first instruction and sends a second instruction to the target non-failure node, the target non-failure node receives the second instruction and executes the second instruction, and the target non-failure node uses its own master key to re-encrypt the file data encryption key of the failure node, so as to obtain a new encryption space key.
S400, obtaining re-encryption success information fed back by the target non-failure node in response to the second instruction, and sending a third instruction to the target non-failure node.
The third instruction is that the control center node sends the re-encryption success information fed back by the target non-failure node to the target non-failure node, and the third instruction is used for controlling the target non-failure node to store the new encryption space key and the encryption space identifier in the cloud space.
Specifically, if the target non-failure node is successfully re-encrypted, the re-encryption success information is sent to the control center node, the control center node receives the re-encryption success information fed back by the target non-failure node in response to the second instruction, and sends a third instruction to the target non-failure node, the target non-failure node receives the third instruction, and the new encryption space key obtained by executing the second instruction and the encryption space identifier of the failure node are stored in the encryption space of the failure node in the cloud space.
S500, acquiring a new encryption space key and an encryption space identifier of a fault node from the cloud space, and sending file data operation permission of the fault node to a target non-fault node according to the new encryption space key and the encryption space identifier of the fault node.
Specifically, in the fault repairing system, the encrypted space of each node and the file data in the encrypted space are the same, but since each encrypted space is encrypted by the corresponding node master key, each node can only access the corresponding encrypted space file data, and cannot access the complete data of all the encrypted spaces. For example, node a encrypts the file data encryption key namespace_key corresponding to the encryption space namespace 1 using the master key amain_key to obtain the encryption space key ennamespace_key, and node B cannot decrypt the encryption space key ennamespace_key of node a using its master key bmain_key, so that B cannot access the file data of namespace 1. After the nodes write the encrypted files in the encrypted space, the encrypted write operation content needs to be transmitted through a network, so that the synchronization among the files of the nodes is realized.
The control center node obtains a new encryption space key and an encryption space identifier of the fault node from the cloud space, and sends file data operation authority of the fault node to the target non-fault node according to the new encryption space key and the encryption space identifier of the fault node, so that the target non-fault node has authority to perform read-write operation on the file data of the fault node so as to recover the fault data of the fault node.
According to the robot fault data recovery method, the target non-fault node is selected from the plurality of non-fault nodes by receiving the fault data recovery request sent by the non-fault node, the first instruction is sent to the target non-fault node, the decryption success information fed back by the target non-fault node in response to the first instruction is obtained, the second instruction is sent to the target non-fault node, the re-encryption success information fed back by the target non-fault node in response to the second instruction is obtained, the third instruction is sent to the target non-fault node, the new encryption space key and the encryption space identification of the fault node are obtained from the cloud space, the file data operation authority of the fault node is sent to the target non-fault node according to the new encryption space key and the encryption space identification of the fault node, the fault data recovery task of the fault node can be given to the non-fault node, a spare unit is not required to be additionally added to replace a fault unit restart node program, the fault recovery time is shortened, and the fault recovery efficiency is improved.
In one embodiment, the target non-failed node stores the new encryption space key and encryption space identification in key-value pairs.
Wherein the key-value pair is a data organization form in the database, wherein the key is the number of the stored value, and the value is the data to be stored.
Specifically, after the target non-faulty node re-encrypts the file data encryption key of the faulty node to obtain a new encryption space key, the new encryption space key and the encryption space identifier are used as a key value pair and stored in the encryption space of the faulty node in the cloud space.
In this embodiment, the target non-faulty node stores the new encrypted space key and the encrypted space identifier in the form of a key value pair, so that the corresponding encrypted space key can be found conveniently through the encrypted space identifier during decryption.
In one embodiment, the robot fault data recovery method further comprises:
and sending a fourth instruction to the target non-fault node, wherein the fourth instruction is used for controlling the target non-fault node to read the file data of the fault node, and the file data of the fault node is obtained by decrypting the encrypted file of the fault node according to the file data encryption key of the fault node.
Specifically, as shown in fig. 3, the key architecture encrypts a file data encryption key nmeaspace_key by a master key main_key to obtain an encryption space key ennaspace_key, and the system proxy module stores the encryption space key ennaspace_key in a cloud space database. When the process operates the file, the proxy module is called to decrypt the ennaspace_key by using the main_key to obtain the naspace_key, and the operation on the file in the encrypted space naspace is realized through the key.
After the control center node sends the file data operation authority of the fault node to the target non-fault node, a fourth instruction is sent to the target non-fault node, the target non-fault node is controlled to read the file data of the fault node, the target non-fault node receives the fourth instruction and executes the fourth instruction, the new encryption space key is decrypted by the master key to obtain the file data encryption key, and the file data encryption key is used for decrypting the file of the fault node to obtain the file data of the fault node.
In this embodiment, the fourth instruction is sent to the target non-failure node, and the target non-failure node can be controlled according to the fourth instruction to decrypt the encrypted file through the file data encryption key of the failure node, so as to read the file data of the failure node.
In one embodiment, decrypting the encrypted file of the failed node based on the file data encryption key of the failed node comprises:
if the encryption space identifier of the fault node exists in the cloud space, acquiring a new encryption space key according to the encryption space identifier of the fault node; decrypting the new encryption space key through the master key of the target non-faulty node to obtain the file data encryption key of the faulty node; and decrypting the encrypted file of the fault node through the file data encryption key of the fault node.
Specifically, when a target non-faulty node opens and reads and writes file data of the faulty node, a proxy module in the system checks and calls a binary program of an API to check whether encryption space information of the faulty node exists in a configuration file, and if so, acquires an encryption space identifier of the faulty node, and searches a new encryption space key in a cloud space database by taking the encryption space identifier as a key; if the encrypted space identifier does not exist, the proxy module creates an encrypted space key ennamespace_key through a file data encrypted key namespace_key and a master key main_key, and stores the corresponding encrypted space identifier and the encrypted space key ennamespace_key into a cloud space as a pair of key-value key value pairs. Decrypting the new encryption space key through the master key of the target non-faulty node to obtain a file data encryption key, and decrypting the faulty node file through the file data encryption key to obtain the file data of the faulty node, wherein the file data encryption key is a random number generated by the security hardware.
In this embodiment, if the encryption space identifier of the fault node exists in the cloud space, a new encryption space key is obtained according to the encryption space identifier of the fault node, the new encryption space key is decrypted by the master key of the target non-fault node to obtain the file data encryption key of the fault node, the encrypted file of the fault node is decrypted by the file data encryption key of the fault node to obtain the file data of the fault node, and the read-write operation of the file data of the fault node is realized.
In one embodiment, the robot fault data recovery method further comprises:
and sending a fifth instruction to the target non-failure node, wherein the fifth instruction is used for controlling the target non-failure node to encrypt the recovered failure data.
Specifically, the control center node sends a fifth instruction to the target non-failure node, the target non-failure node receives the fifth instruction and executes the fifth instruction, then the file read-write module obtains a file data encryption key of the failure node through the proxy module, decrypts the file of the failure node by using the file data encryption key, and reads file data; on the basis of realizing file decryption, writing operation is carried out on the file, and the writing operation content is encrypted again by using the file data encryption key.
In this embodiment, the fifth instruction is used to control the target non-failed node to encrypt the recovered failure data by sending the fifth instruction to the target non-failed node, so that the integrity of the recovered failure data can be ensured by encrypting.
In one embodiment, the master key of the failed node is generated based on the host serial number of the failed node and the control center node key; the master key of the target non-failed node is generated based on the host serial number of the target non-failed node and the control center node key.
Specifically, the master key of the failed node is a key generated by encrypting the host serial number of the failed node and the key of the control center node, the master key of the target non-failed node is a key generated by encrypting the host serial number of the target non-failed node and the key of the control center node, and the master key of the failed node and the master key of the target non-failed node are stored in the secure hardware.
In this embodiment, the master key of the failed node is generated based on the host serial number of the failed node and the control center node key, and the master key of the target non-failed node is generated based on the host serial number of the target non-failed node and the control center node key, so that the encrypted space can be encrypted by the master key and the encrypted space key can be decrypted.
In order to describe the technical scheme and the effect of the robot fault data recovery method in detail, a specific application example is adopted for description. In practical application, the method for recovering the fault data of the whole robot as shown in fig. 4 comprises the following steps:
step one: the non-fault node detects that a fault node exists, and the non-fault node sends a fault data recovery request to the control center node.
Step one: the control center node receives a fault data recovery request sent by the non-fault node, and selects a target non-fault node from a plurality of non-fault nodes.
Step two: the control center node sends a first instruction to the target non-fault node, the first instruction carries a main key and an encryption space identifier of the fault node, the first instruction is used for controlling the target non-fault node to acquire a file data encryption key of the fault node, the file data encryption key is obtained through decryption according to the main key of the fault node, and the main key of the fault node is generated based on a host serial number of the fault node and the key of the control center node. And if the target non-faulty node does not receive the master key of the faulty node, the key request is sent to the control center node again.
Step three: the control center node obtains decryption success information fed back by the target non-failure node in response to the first instruction, and sends a second instruction to the target non-failure node, wherein the second instruction is used for controlling the target non-failure node to obtain a new encryption space key, and the new encryption space key is obtained by re-encrypting the file data encryption key of the failure node according to the master key of the target non-failure node. The master key of the target non-failed node is generated based on the host serial number of the target non-failed node and the control center node key.
Step four: the control center node obtains re-encryption success information fed back by the target non-failure node in response to the second instruction, and sends a third instruction to the target non-failure node, wherein the third instruction is used for controlling the target non-failure node to store a new encryption space key and an encryption space identifier in a cloud space in a key value pair mode.
Step five: the control center node obtains a new encryption space key and an encryption space identifier of the fault node from the cloud space, and sends file data operation authority of the fault node to the target non-fault node according to the new encryption space key and the encryption space identifier of the fault node, and the fault data of the fault node is recovered by the target non-fault node.
Step six: and the control center node sends a fourth instruction to the target non-fault node and is used for controlling the target non-fault node to read the file data of the fault node, wherein the file data of the fault node is obtained by decrypting the encrypted file of the fault node by the file data encryption key of the fault node. The method specifically comprises the following steps:
(1) And if the encryption space identifier of the fault node exists in the cloud space, acquiring a new encryption space key according to the encryption space identifier of the fault node.
(2) And decrypting the new encryption space key through the master key of the target non-faulty node to obtain the file data encryption key of the faulty node.
(3) And decrypting the encrypted file of the fault node through the file data encryption key of the fault node.
Step seven: and the control center node sends a fifth instruction to the target non-failure node, and the fifth instruction is used for controlling the target non-failure node to encrypt the recovered failure data.
It should be understood that, although the steps in the flowcharts related to the embodiments described above are sequentially shown as indicated by arrows, these steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts described in the above embodiments may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the steps or stages is not necessarily performed sequentially, but may be performed alternately or alternately with at least some of the other steps or stages.
Based on the same inventive concept, the embodiment of the application also provides a robot fault data recovery device for realizing the above-mentioned robot fault data recovery method. The implementation of the solution provided by the device is similar to the implementation described in the above method, so the specific limitation in the embodiments of the device for recovering fault data of a robot provided below may be referred to the limitation of the method for recovering fault data of a robot in the above description, and will not be repeated here.
In one embodiment, as shown in fig. 5, there is provided a robot failure data recovery apparatus, comprising: a reception request module 100, a first instruction transmission module 200, a second instruction transmission module 300, a third instruction transmission module 400, and a right transmission module 500, wherein:
the receiving request module 100 is configured to receive a failure data recovery request sent by a non-failure node, and select a target non-failure node from a plurality of non-failure nodes;
the first instruction sending module 200 is configured to send a first instruction to a target non-faulty node, where the first instruction carries a master key and an encrypted space identifier of the faulty node, and the first instruction is used to control the target non-faulty node to obtain a file data encryption key of the faulty node, where the file data encryption key is obtained by decrypting the master key of the faulty node;
the second instruction sending module 300 is configured to obtain decryption success information fed back by the target non-faulty node in response to the first instruction, and send a second instruction to the target non-faulty node, where the second instruction is used to control the target non-faulty node to obtain a new encryption space key, where the new encryption space key is obtained by re-encrypting the file data encryption key of the faulty node according to the master key of the target non-faulty node;
A third instruction sending module 400, configured to obtain re-encryption success information fed back by the target non-faulty node in response to the second instruction, and send a third instruction to the target non-faulty node, where the third instruction is used to control the target non-faulty node to store the new encryption space key and the encryption space identifier in the cloud space;
and the permission sending module 500 is used for acquiring a new encryption space key and the encryption space identifier of the fault node from the cloud space, sending the file data operation permission of the fault node to the target non-fault node according to the new encryption space key and the encryption space identifier of the fault node, and recovering the fault data of the fault node by the target fault node.
In one embodiment, the third instruction sending module 400 is further configured to store the new encryption space key and the encryption space identifier in the form of a key-value pair for the target non-faulty node.
In one embodiment, the robot fault data recovery device further includes a fourth instruction sending module, configured to send a fourth instruction to the target non-faulty node, where the fourth instruction is configured to control the target non-faulty node to read file data of the faulty node, where the file data of the faulty node is obtained by decrypting an encrypted file of the faulty node according to a file data encryption key of the faulty node.
In one embodiment, the fourth instruction sending module is further configured to obtain a new encryption space key according to the encryption space identifier of the fault node if the encryption space identifier of the fault node exists in the cloud space; decrypting the new encryption space key through the master key of the target non-faulty node to obtain the file data encryption key of the faulty node; and decrypting the encrypted file of the fault node through the file data encryption key of the fault node.
In one embodiment, the robot fault data recovery device further includes a fifth instruction sending module, configured to send a fifth instruction to the target non-faulty node, where the fifth instruction is configured to control the target non-faulty node to encrypt the recovered fault data.
In one embodiment, the first instruction sending module 200 is further configured to generate a master key of the failed node based on the host serial number of the failed node and the control center node key; the master key of the target non-failed node is generated based on the host serial number of the target non-failed node and the control center node key.
The above-described respective modules in the robot failure data recovery apparatus may be implemented in whole or in part by software, hardware, and a combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, a computer device is provided, which may be a server, the internal structure of which may be as shown in fig. 6. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database of the computer device is used to store fault data. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program, when executed by a processor, implements a robot failure data recovery method.
It will be appreciated by those skilled in the art that the structure shown in FIG. 6 is merely a block diagram of some of the structures associated with the present inventive arrangements and is not limiting of the computer device to which the present inventive arrangements may be applied, and that a particular computer device may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.
In one embodiment, a computer device is provided comprising a memory and a processor, the memory having stored therein a computer program, the processor when executing the computer program performing the steps of:
receiving a fault data recovery request sent by a non-fault node, and selecting a target non-fault node from a plurality of non-fault nodes; the method comprises the steps of sending a first instruction to a target non-fault node, wherein the first instruction carries a master key and an encryption space identifier of the fault node, and the first instruction is used for controlling the target non-fault node to acquire a file data encryption key of the fault node, wherein the file data encryption key is obtained by decrypting the master key of the fault node; obtaining decryption success information fed back by the target non-failure node in response to the first instruction, and sending a second instruction to the target non-failure node, wherein the second instruction is used for controlling the target non-failure node to obtain a new encryption space key, and the new encryption space key is obtained by re-encrypting a file data encryption key of the failure node according to a master key of the target non-failure node; obtaining re-encryption success information fed back by the target non-failure node in response to the second instruction, and sending a third instruction to the target non-failure node, wherein the third instruction is used for controlling the target non-failure node to store a new encryption space key and an encryption space identifier in the cloud space; acquiring a new encryption space key and an encryption space identifier of a fault node from the cloud space, and sending file data operation permission of the fault node to a target non-fault node according to the new encryption space key and the encryption space identifier of the fault node, wherein the target non-fault node recovers fault data of the fault node.
In one embodiment, the processor when executing the computer program further performs the steps of:
the target non-faulty node stores the new encryption space key and the encryption space identification in the form of key value pairs.
In one embodiment, the processor when executing the computer program further performs the steps of:
and sending a fourth instruction to the target non-fault node, wherein the fourth instruction is used for controlling the target non-fault node to read the file data of the fault node, and the file data of the fault node is obtained by decrypting the encrypted file of the fault node according to the file data encryption key of the fault node.
In one embodiment, the processor when executing the computer program further performs the steps of:
if the encryption space identifier of the fault node exists in the cloud space, acquiring a new encryption space key according to the encryption space identifier of the fault node; decrypting the new encryption space key through the master key of the target non-faulty node to obtain the file data encryption key of the faulty node; and decrypting the encrypted file of the fault node through the file data encryption key of the fault node.
In one embodiment, the processor when executing the computer program further performs the steps of:
and sending a fifth instruction to the target non-failure node, wherein the fifth instruction is used for controlling the target non-failure node to encrypt the recovered failure data.
In one embodiment, the processor when executing the computer program further performs the steps of:
generating a master key of the fault node based on a host serial number of the fault node and a control center node key; the master key of the target non-failed node is generated based on the host serial number of the target non-failed node and the control center node key.
In one embodiment, a computer readable storage medium is provided having a computer program stored thereon, which when executed by a processor, performs the steps of:
receiving a fault data recovery request sent by a non-fault node, and selecting a target non-fault node from a plurality of non-fault nodes; the method comprises the steps of sending a first instruction to a target non-fault node, wherein the first instruction carries a master key and an encryption space identifier of the fault node, and the first instruction is used for controlling the target non-fault node to acquire a file data encryption key of the fault node, wherein the file data encryption key is obtained by decrypting the master key of the fault node; obtaining decryption success information fed back by the target non-failure node in response to the first instruction, and sending a second instruction to the target non-failure node, wherein the second instruction is used for controlling the target non-failure node to obtain a new encryption space key, and the new encryption space key is obtained by re-encrypting a file data encryption key of the failure node according to a master key of the target non-failure node; obtaining re-encryption success information fed back by the target non-failure node in response to the second instruction, and sending a third instruction to the target non-failure node, wherein the third instruction is used for controlling the target non-failure node to store a new encryption space key and an encryption space identifier in the cloud space; acquiring a new encryption space key and an encryption space identifier of a fault node from the cloud space, and sending file data operation permission of the fault node to a target non-fault node according to the new encryption space key and the encryption space identifier of the fault node, wherein the target non-fault node recovers fault data of the fault node.
In one embodiment, the computer program when executed by the processor further performs the steps of:
the target non-faulty node stores the new encryption space key and the encryption space identification in the form of key value pairs.
In one embodiment, the computer program when executed by the processor further performs the steps of:
and sending a fourth instruction to the target non-fault node, wherein the fourth instruction is used for controlling the target non-fault node to read the file data of the fault node, and the file data of the fault node is obtained by decrypting the encrypted file of the fault node according to the file data encryption key of the fault node.
In one embodiment, the computer program when executed by the processor further performs the steps of:
if the encryption space identifier of the fault node exists in the cloud space, acquiring a new encryption space key according to the encryption space identifier of the fault node; decrypting the new encryption space key through the master key of the target non-faulty node to obtain the file data encryption key of the faulty node; and decrypting the encrypted file of the fault node through the file data encryption key of the fault node.
In one embodiment, the computer program when executed by the processor further performs the steps of:
And sending a fifth instruction to the target non-failure node, wherein the fifth instruction is used for controlling the target non-failure node to encrypt the recovered failure data.
In one embodiment, the computer program when executed by the processor further performs the steps of:
generating a master key of the fault node based on a host serial number of the fault node and a control center node key; the master key of the target non-failed node is generated based on the host serial number of the target non-failed node and the control center node key.
In one embodiment, a computer program product is provided comprising a computer program which, when executed by a processor, performs the steps of:
receiving a fault data recovery request sent by a non-fault node, and selecting a target non-fault node from a plurality of non-fault nodes; the method comprises the steps of sending a first instruction to a target non-fault node, wherein the first instruction carries a master key and an encryption space identifier of the fault node, and the first instruction is used for controlling the target non-fault node to acquire a file data encryption key of the fault node, wherein the file data encryption key is obtained by decrypting the master key of the fault node; obtaining decryption success information fed back by the target non-failure node in response to the first instruction, and sending a second instruction to the target non-failure node, wherein the second instruction is used for controlling the target non-failure node to obtain a new encryption space key, and the new encryption space key is obtained by re-encrypting a file data encryption key of the failure node according to a master key of the target non-failure node; obtaining re-encryption success information fed back by the target non-failure node in response to the second instruction, and sending a third instruction to the target non-failure node, wherein the third instruction is used for controlling the target non-failure node to store a new encryption space key and an encryption space identifier in the cloud space; acquiring a new encryption space key and an encryption space identifier of a fault node from the cloud space, and sending file data operation permission of the fault node to a target non-fault node according to the new encryption space key and the encryption space identifier of the fault node, wherein the target non-fault node recovers fault data of the fault node.
In one embodiment, the computer program when executed by the processor further performs the steps of:
the target non-faulty node stores the new encryption space key and the encryption space identification in the form of key value pairs.
In one embodiment, the computer program when executed by the processor further performs the steps of:
and sending a fourth instruction to the target non-fault node, wherein the fourth instruction is used for controlling the target non-fault node to read the file data of the fault node, and the file data of the fault node is obtained by decrypting the encrypted file of the fault node according to the file data encryption key of the fault node.
In one embodiment, the computer program when executed by the processor further performs the steps of:
if the encryption space identifier of the fault node exists in the cloud space, acquiring a new encryption space key according to the encryption space identifier of the fault node; decrypting the new encryption space key through the master key of the target non-faulty node to obtain the file data encryption key of the faulty node; and decrypting the encrypted file of the fault node through the file data encryption key of the fault node.
In one embodiment, the computer program when executed by the processor further performs the steps of:
And sending a fifth instruction to the target non-failure node, wherein the fifth instruction is used for controlling the target non-failure node to encrypt the recovered failure data.
In one embodiment, the computer program when executed by the processor further performs the steps of:
generating a master key of the fault node based on a host serial number of the fault node and a control center node key; the master key of the target non-failed node is generated based on the host serial number of the target non-failed node and the control center node key.
The user information (including but not limited to user equipment information, user personal information, etc.) and the data (including but not limited to data for analysis, stored data, presented data, etc.) related to the present application are information and data authorized by the user or sufficiently authorized by each party.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, database, or other medium used in embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high density embedded nonvolatile Memory, resistive random access Memory (ReRAM), magnetic random access Memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric Memory (Ferroelectric Random Access Memory, FRAM), phase change Memory (Phase Change Memory, PCM), graphene Memory, and the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, and the like. By way of illustration, and not limitation, RAM can be in the form of a variety of forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), and the like. The databases referred to in the embodiments provided herein may include at least one of a relational database and a non-relational database. The non-relational database may include, but is not limited to, a blockchain-based distributed database, and the like. The processor referred to in the embodiments provided in the present application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computing, or the like, but is not limited thereto.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The foregoing examples illustrate only a few embodiments of the application and are described in detail herein without thereby limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of the application should be assessed as that of the appended claims.
Claims (10)
1. A method for recovering robot fault data, the method comprising:
receiving a fault data recovery request sent by a non-fault node, and selecting a target non-fault node from a plurality of non-fault nodes;
a first instruction is sent to a target non-fault node, wherein the first instruction carries a main key and an encryption space identifier of the fault node, and the first instruction is used for controlling the target non-fault node to acquire a file data encryption key of the fault node, wherein the file data encryption key is obtained by decrypting the main key of the fault node;
Obtaining decryption success information fed back by the target non-failure node in response to the first instruction, and sending a second instruction to the target non-failure node, wherein the second instruction is used for controlling the target non-failure node to obtain a new encryption space key, and the new encryption space key is obtained by re-encrypting a file data encryption key of the failure node according to a master key of the target non-failure node;
obtaining re-encryption success information fed back by the target non-failure node in response to the second instruction, and sending a third instruction to the target non-failure node, wherein the third instruction is used for controlling the target non-failure node to store the new encryption space key and the encryption space identifier in a cloud space;
and acquiring the new encryption space key and the encryption space identifier of the fault node from a cloud space, and sending the file data operation authority of the fault node to the target non-fault node according to the new encryption space key and the encryption space identifier of the fault node, wherein the fault data of the fault node is recovered by the target non-fault node.
2. The method of claim 1, wherein the target non-failed node stores the new encryption space key and the encryption space identification in key-value pairs.
3. The method as recited in claim 1, further comprising:
and sending a fourth instruction to the target non-fault node, wherein the fourth instruction is used for controlling the target non-fault node to read the file data of the fault node, and the file data of the fault node is obtained by decrypting the encrypted file of the fault node according to the file data encryption key of the fault node.
4. A method according to claim 3, wherein decrypting the encrypted file of the failed node based on the file data encryption key of the failed node comprises:
if the encryption space identifier of the fault node exists in the cloud space, acquiring the new encryption space key according to the encryption space identifier of the fault node;
decrypting the new encryption space key through the master key of the target non-faulty node to obtain a file data encryption key of the faulty node;
decrypting the encrypted file of the fault node through the file data encryption key of the fault node.
5. The method as recited in claim 1, further comprising:
and sending a fifth instruction to the target non-failure node, wherein the fifth instruction is used for controlling the target non-failure node to encrypt the recovered failure data.
6. The method of claim 1, wherein the master key for the failed node is generated based on a host serial number of the failed node and a control center node key; the master key of the target non-failure node is generated based on the host serial number of the target non-failure node and the control center node key.
7. A robot fault data recovery apparatus, the apparatus comprising:
the receiving request module is used for receiving a fault data recovery request sent by a non-fault node and selecting a target non-fault node from a plurality of non-fault nodes;
the system comprises a first instruction sending module, a first instruction sending module and a second instruction sending module, wherein the first instruction is used for sending a first instruction to a target non-fault node, the first instruction carries a master key and an encryption space identifier of the fault node, and the first instruction is used for controlling the target non-fault node to acquire a file data encryption key of the fault node, wherein the file data encryption key is obtained by decrypting the master key of the fault node;
the second instruction sending module is used for obtaining decryption success information fed back by the target non-fault node in response to the first instruction and sending a second instruction to the target non-fault node, and the second instruction is used for controlling the target non-fault node to obtain a new encryption space key, wherein the new encryption space key is obtained by re-encrypting a file data encryption key of the fault node according to a master key of the target non-fault node;
A third instruction sending module, configured to obtain re-encryption success information fed back by the target non-failure node in response to the second instruction, and send a third instruction to the target non-failure node, where the third instruction is configured to control the target non-failure node to store the new encryption space key and the encryption space identifier in cloud space;
and the permission sending module is used for acquiring the new encryption space key and the encryption space identifier of the fault node from the cloud space, sending the file data operation permission of the fault node to the target non-fault node according to the new encryption space key and the encryption space identifier of the fault node, and recovering the fault data of the fault node by the target fault node.
8. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any of claims 1 to 6 when the computer program is executed.
9. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 6.
10. A computer program product comprising a computer program, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 6.
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